지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.5
- 수록면
- 487 - 495 (9page)
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초록· 키워드
오류제보하기
In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic aim is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.
목차
Abstract
I. 서론
II. McBot II의 운동학적 디자인
III. McBot II의 제어
IV. 실험 및 결과
V. 결론
참고문헌
참고문헌 (13)
참고문헌 신청
1. [학술대회논문] - K. Nagasaka / 2004 / Integrated motion control for walking, jumping and running on a small bipedal entertainment robot / Proc. of the 2004 IEEE Int. Conf. Robotics and Automation (ICRA2004) : 3189 ~ 3194
2. [학술지(정기간행물)] - K. Harada / 2006 / Dynamics and balance of a humanoid robot during manipulation tasks / IEEE Trans. on Robotics 22 (3) : 568 ~ 575
3. [학술대회논문] - T. Asfour / 2006 / ARMAR-III: an integrated humanoid plattfrom for sensory-motor control / Prof. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2006) 12
4. [학술대회논문] - H. Iwata / 1998 / Design of humanoid surface sensor for tactile interference with human / Proc. of IEEE Int. Workshop on Robot and Human Communication, 2 : 549 ~ 554
5. [학술지(정기간행물)] - 김승우 / 2010 / A Study on the Development of a Home Mess-Cleanup Robot Using an RFID Tag-Floor / 한국산학기술학회논문지 11 (2) : 508 ~ 516
2. [학술지(정기간행물)] - K. Harada / 2006 / Dynamics and balance of a humanoid robot during manipulation tasks / IEEE Trans. on Robotics 22 (3) : 568 ~ 575
3. [학술대회논문] - T. Asfour / 2006 / ARMAR-III: an integrated humanoid plattfrom for sensory-motor control / Prof. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2006) 12
4. [학술대회논문] - H. Iwata / 1998 / Design of humanoid surface sensor for tactile interference with human / Proc. of IEEE Int. Workshop on Robot and Human Communication, 2 : 549 ~ 554
5. [학술지(정기간행물)] - 김승우 / 2010 / A Study on the Development of a Home Mess-Cleanup Robot Using an RFID Tag-Floor / 한국산학기술학회논문지 11 (2) : 508 ~ 516
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UCI(KEPA) : I410-ECN-0101-2013-569-003447048